{"id":"https://openalex.org/W4386953310","doi":"https://doi.org/10.1109/ccta54093.2023.10252749","title":"Learning-based Nonlinear Model Predictive Control for a High Performance Virtual Driver","display_name":"Learning-based Nonlinear Model Predictive Control for a High Performance Virtual Driver","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4386953310","doi":"https://doi.org/10.1109/ccta54093.2023.10252749"},"language":"en","primary_location":{"id":"doi:10.1109/ccta54093.2023.10252749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta54093.2023.10252749","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030619032","display_name":"Josias R\u00fchle","orcid":"https://orcid.org/0009-0001-5251-5597"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I31582689","display_name":"Stuttgart University of Applied Sciences","ror":"https://ror.org/039gdg280","country_code":"DE","type":"education","lineage":["https://openalex.org/I31582689"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Josias R\u00fchle","raw_affiliation_strings":["ISYS, University of Stuttgart,Germany","ISYS, University of Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"ISYS, University of Stuttgart,Germany","institution_ids":["https://openalex.org/I31582689","https://openalex.org/I100066346"]},{"raw_affiliation_string":"ISYS, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038735370","display_name":"Enrico Picotti","orcid":"https://orcid.org/0000-0002-5356-610X"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Picotti","raw_affiliation_strings":["DEI, University of Padova,Italy","DEI, University of Padova, Italy"],"affiliations":[{"raw_affiliation_string":"DEI, University of Padova,Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"DEI, University of Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056943784","display_name":"Mattia Bruschetta","orcid":"https://orcid.org/0000-0003-0769-4191"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Bruschetta","raw_affiliation_strings":["DEI, University of Padova,Italy","DEI, University of Padova, Italy"],"affiliations":[{"raw_affiliation_string":"DEI, University of Padova,Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"DEI, University of Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030619032"],"corresponding_institution_ids":["https://openalex.org/I100066346","https://openalex.org/I31582689"],"apc_list":null,"apc_paid":null,"fwci":0.1821,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47709674,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"438","last_page":"444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8479741215705872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7066251635551453},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6055972576141357},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5953994989395142},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5365339517593384},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.5363702774047852},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.49218669533729553},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4836203157901764},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4759613871574402},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.463371217250824},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.42534157633781433},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37503722310066223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3707267642021179},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34688693284988403},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.33561044931411743},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20426374673843384}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8479741215705872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7066251635551453},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6055972576141357},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5953994989395142},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5365339517593384},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.5363702774047852},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.49218669533729553},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4836203157901764},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4759613871574402},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.463371217250824},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.42534157633781433},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37503722310066223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3707267642021179},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34688693284988403},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.33561044931411743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20426374673843384},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta54093.2023.10252749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta54093.2023.10252749","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3540143","is_oa":false,"landing_page_url":"https://hdl.handle.net/11577/3540143","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W137285897","https://openalex.org/W1502922572","https://openalex.org/W1562460111","https://openalex.org/W1578293866","https://openalex.org/W1591375184","https://openalex.org/W1878563552","https://openalex.org/W1976467619","https://openalex.org/W2115955659","https://openalex.org/W2567328257","https://openalex.org/W2577695053","https://openalex.org/W2954115742","https://openalex.org/W2963945659","https://openalex.org/W2967935934","https://openalex.org/W2992833799","https://openalex.org/W2993711638","https://openalex.org/W3047366950","https://openalex.org/W3155272911","https://openalex.org/W4285111075","https://openalex.org/W4285143826","https://openalex.org/W4289927927","https://openalex.org/W4313014185","https://openalex.org/W6605566567","https://openalex.org/W6629804754","https://openalex.org/W6633748999","https://openalex.org/W6635414052","https://openalex.org/W6839268988"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W4313443006","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W2945374968","https://openalex.org/W4385452045","https://openalex.org/W4293777179","https://openalex.org/W2164070813","https://openalex.org/W2135608140"],"abstract_inverted_index":{"Recently,":[0],"Model":[1],"Predictive":[2],"Control":[3],"(MPC)":[4],"has":[5,117],"seen":[6],"great":[7,30],"progress":[8],"in":[9,120,134,138],"both":[10,133],"research":[11],"and":[12,45,92,107,125,137],"many":[13],"application":[14],"areas,":[15],"including":[16],"autonomous":[17,21],"driving":[18],"vehicles.":[19],"For":[20],"race":[22],"cars,":[23],"Nonlinear":[24],"MPC":[25],"(NMPC)":[26],"can":[27],"be":[28],"of":[29,42],"advantage,":[31],"as":[32,101],"it":[33,126],"enables":[34],"optimal":[35],"control":[36],"even":[37],"at":[38],"the":[39,75,97,129],"physical":[40],"limits":[41],"cornering":[43],"speed":[44],"acceleration.":[46],"However,":[47],"to":[48,95],"ensure":[49],"reliable":[50],"high-performance":[51],"control,":[52],"an":[53],"accurate":[54],"internal":[55],"model":[56,73,88,131],"is":[57,78],"necessary.":[58],"To":[59],"this":[60,62],"end,":[61],"manuscript":[63],"describes":[64],"a":[65,71,86,102,108,121],"Learning-based":[66],"NMPC":[67],"approach":[68],"that":[69],"implements":[70],"grey-box":[72],"where":[74],"data-driven":[76],"component":[77],"based":[79],"on":[80],"Gaussian":[81,104],"Processes.":[82],"Challenges":[83],"arising":[84],"from":[85],"space-discrete":[87],"formulation":[89],"are":[90,112],"addressed,":[91],"specific":[93],"methods":[94],"reduce":[96],"computational":[98],"burden,":[99],"such":[100],"sparse":[103],"Process":[105],"approximation":[106],"features":[109],"selection":[110],"procedure,":[111],"presented.":[113],"The":[114],"proposed":[115],"method":[116],"been":[118],"tested":[119],"high-fidelity":[122],"simulation":[123],"environment,":[124],"clearly":[127],"outperforms":[128],"nominal":[130],"NMPC,":[132],"open-loop":[135],"predictions":[136],"closed-loop":[139],"performance.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2023-09-23T00:00:00"}
